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<div class="title">pyramidal_klt.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_PYRAMIDAL_KLT_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_TRACKING_PYRAMIDAL_KLT_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/tracker.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/intensity.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transformation_from_correspondences.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT = pcl::common::IntensityFieldAccessor&lt;Po<span class="keywordtype">int</span>InT&gt; &gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">   63</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">PyramidalKLTTracker</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt;PointInT, Eigen::Affine3f&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt;PointInT, Eigen::Affine3f&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">TrackerBase</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> TrackerBase::PointCloudIn PointCloudIn;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> FloatImage::Ptr FloatImagePtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> FloatImage::ConstPtr FloatImageConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">TrackerBase::tracker_name_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">TrackerBase::input_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">TrackerBase::indices_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6f7e2789efeeadd76c5e1025862e34e5">   79</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6f7e2789efeeadd76c5e1025862e34e5">PyramidalKLTTracker</a> (<span class="keywordtype">int</span> nb_levels = 5, <span class="keywordtype">int</span> tracking_window_width = 7, <span class="keywordtype">int</span> tracking_window_height = 7)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          : <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afdbf86b279b7eea6b6bd61d1dbeb4795">ref_</a> ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          , <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">nb_levels_</a> (nb_levels)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          , <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">track_width_</a> (tracking_window_width)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          , <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">track_height_</a> (tracking_window_height)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          , <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aca8f4cfc01035b62b9e65a51b1a7e2f6">threads_</a> (0)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          , <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a88dc4e774d1c73233e935d4a34a46bca">initialized_</a> (false)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a> = <span class="stringliteral">&quot;PyramidalKLTTracker&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">accuracy_</a> = 0.1;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">epsilon_</a> = 1e-3;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">max_iterations_</a> = 10;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">keypoints_nbr_</a> = 100;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          min_eigenvalue_threshold_ = 1e-4;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">kernel_</a> &lt;&lt; 1.f/16 ,1.f/4 ,3.f/8 ,1.f/4 ,1.f/16;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a52ea392e8a3f85b0313017f73fea7630">kernel_size_2_</a> = <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">kernel_</a>.size () / 2;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10af9d16b10416c5a0b81e1ba8dbc225">kernel_last_</a> = <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">kernel_</a>.size () -1;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a425aa7759eb414f155a9eaf9f21ab7d7">   99</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a425aa7759eb414f155a9eaf9f21ab7d7">~PyramidalKLTTracker</a> () {}</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a157d73fb7eac0161e9183616a45ed99c">  105</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a157d73fb7eac0161e9183616a45ed99c">setNumberOfPyramidLevels</a> (<span class="keywordtype">int</span> levels) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">nb_levels_</a> = levels; }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1eb598d35b2134f593803d97263172f3">  109</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1eb598d35b2134f593803d97263172f3">getNumberOfPyramidLevels</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">nb_levels_</a>); }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a64dcc53c044c27861b5441b2f99d099f">  115</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a64dcc53c044c27861b5441b2f99d099f">setAccuracy</a> (<span class="keywordtype">float</span> accuracy) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">accuracy_</a> = accuracy; }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a0ed1edfc6d2f4834ac30b3a42f9e8cd1">  119</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a0ed1edfc6d2f4834ac30b3a42f9e8cd1">getAccuracy</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">accuracy_</a>); }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a68ddbe4094f0a5d94bde3cb912c8f0c7">  125</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a68ddbe4094f0a5d94bde3cb912c8f0c7">setEpsilon</a> (<span class="keywordtype">float</span> epsilon) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">epsilon_</a> = epsilon; }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a06637cb498ff4377e0dbc53c1e78105c">  129</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a06637cb498ff4377e0dbc53c1e78105c">getEpsilon</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">epsilon_</a>); }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3c809675ea924f5a6a9167bbed8e0a5">  137</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3c809675ea924f5a6a9167bbed8e0a5">setNumberOfKeypoints</a> (std::size_t number) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">keypoints_nbr_</a> = number; }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afef9543e6cbaa5245bd837a4366868c3">  141</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afef9543e6cbaa5245bd837a4366868c3">getNumberOfKeypoints</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">keypoints_nbr_</a>); }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a90e1723b09ffd63f88972b892d7c509b">setTrackingWindowSize</a> (<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#abfd704e6b78a0c616bdcd18374cbc12c">  152</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#abfd704e6b78a0c616bdcd18374cbc12c">setTrackingWindowWidth</a> (<span class="keywordtype">int</span> width) {<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">track_width_</a> = width; };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a82dbfec83a2f31125255eba2dedfe5c9">  156</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a82dbfec83a2f31125255eba2dedfe5c9">getTrackingWindowWidth</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">track_width_</a>); }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9d782182dcfba1d46a866269316b79a4">  160</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9d782182dcfba1d46a866269316b79a4">setTrackingWindowHeight</a> (<span class="keywordtype">int</span> height) {<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">track_height_</a> = height; };</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aac93a627c1eed2685af0ae5c0941892a">  164</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aac93a627c1eed2685af0ae5c0941892a">getTrackingWindowHeight</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">track_height_</a>); }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a62d2f8d0c8efbee3b166b9ab7bd1167e">  171</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a62d2f8d0c8efbee3b166b9ab7bd1167e">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aca8f4cfc01035b62b9e65a51b1a7e2f6">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">inline</span> PointCloudInConstPtr</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad0460b03dcfc7a2937c46ca46c94d562">  175</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad0460b03dcfc7a2937c46ca46c94d562">getReferenceCloud</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afdbf86b279b7eea6b6bd61d1dbeb4795">ref_</a>); }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a03167bf6b569e40b3c846b1e113b39f5">  181</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a03167bf6b569e40b3c846b1e113b39f5">setMaxIterationsNumber</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max) { <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">max_iterations_</a> = max; }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a04af46fe581d00fbda8593ac379851ff">  185</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a04af46fe581d00fbda8593ac379851ff">getMaxIterationsNumber</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">max_iterations_</a>); }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">setPointsToTrack</a> (<span class="keyword">const</span> pcl::PointIndicesConstPtr&amp; points);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">setPointsToTrack</a> (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr&amp; points);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">inline</span> pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6506c6e1ea932082c7f76c988afa85c1">  201</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6506c6e1ea932082c7f76c988afa85c1">getTrackedPoints</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aff99e3ce9e53287e4d139a7e438f8c1f">keypoints_</a>); };</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">inline</span> pcl::PointIndicesConstPtr</div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ac6b068b18f45c46ca91bd01a8d6818eb">  210</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ac6b068b18f45c46ca91bd01a8d6818eb">getPointsToTrackStatus</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a105002a257afbcb4c0e8fc378fe73155">keypoints_status_</a>); }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        Eigen::Affine3f</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afc4f01cbacb9750e1ec6bf06068f8534">  214</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afc4f01cbacb9750e1ec6bf06068f8534">getResult</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6ae04755e3d16163e1502ae7c23a703f">motion_</a>); }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3707355d4aa473f3e2ccce1e9de11bfb">  218</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3707355d4aa473f3e2ccce1e9de11bfb">getInitialized</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a88dc4e774d1c73233e935d4a34a46bca">initialized_</a>); }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa669cfc2ebbb9778be5475d69c6efce">initCompute</a> ();</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1291f82b866df89fd94b4e2bf5dbd386">derivatives</a> (<span class="keyword">const</span> FloatImage&amp; src, FloatImage&amp; grad_x, FloatImage&amp; grad_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">downsample</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, FloatImageConstPtr&amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">downsample</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, FloatImageConstPtr&amp; output,</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;                    FloatImageConstPtr&amp; output_grad_x, FloatImageConstPtr&amp; output_grad_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afd0d46566a85573a1d467f86a145dea8">convolve</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, FloatImage&amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#af00aa146a5122444e596060a26fc1bc6">convolveCols</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, FloatImage&amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad8d75914e16311af2381c23b1d81e04f">convolveRows</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, FloatImage&amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9f85940b6be97925fc57ee052dd8e158">spatialGradient</a> (<span class="keyword">const</span> FloatImage&amp; img,</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                         <span class="keyword">const</span> FloatImage&amp; grad_x,</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                         <span class="keyword">const</span> FloatImage&amp; grad_y,</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                         <span class="keyword">const</span> Eigen::Array2i&amp; location,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                         <span class="keyword">const</span> Eigen::Array4f&amp; weights,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                         Eigen::ArrayXXf&amp; win,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                         Eigen::ArrayXXf&amp; grad_x_win,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                         Eigen::ArrayXXf&amp; grad_y_win,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                         Eigen::Array3f &amp; covariance) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        mismatchVector (<span class="keyword">const</span> Eigen::ArrayXXf&amp; prev,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                        <span class="keyword">const</span> Eigen::ArrayXXf&amp; prev_grad_x,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                        <span class="keyword">const</span> Eigen::ArrayXXf&amp; prev_grad_y,</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                        <span class="keyword">const</span> FloatImage&amp; next,</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                        <span class="keyword">const</span> Eigen::Array2i&amp; location,</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                        <span class="keyword">const</span> Eigen::Array4f&amp; weights,</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                        Eigen::Array2f &amp;b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9168e3b0b3758e1d39fbce80f512e03c">computePyramids</a> (<span class="keyword">const</span> PointCloudInConstPtr&amp; input,</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                         std::vector&lt;FloatImageConstPtr&gt;&amp; pyramid,</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                         pcl::InterpolationType border_type) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        track (<span class="keyword">const</span> PointCloudInConstPtr&amp; previous_input,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;               <span class="keyword">const</span> PointCloudInConstPtr&amp; current_input,</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;               <span class="keyword">const</span> std::vector&lt;FloatImageConstPtr&gt;&amp; previous_pyramid,</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;               <span class="keyword">const</span> std::vector&lt;FloatImageConstPtr&gt;&amp; current_pyramid,</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;               <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr&amp; previous_keypoints,</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;               pcl::PointCloud&lt;pcl::PointUV&gt;::Ptr&amp; current_keypoints,</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;               std::vector&lt;int&gt;&amp; status,</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;               Eigen::Affine3f&amp; motion) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a66cf5039c8b3b50823b4847e062ea317">computeTracking</a> ();</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5d459c85a97df059644a826290c959e9">  327</a></span>&#160;        std::vector&lt;FloatImageConstPtr&gt; <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5d459c85a97df059644a826290c959e9">ref_pyramid_</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afdbf86b279b7eea6b6bd61d1dbeb4795">  329</a></span>&#160;        PointCloudInConstPtr <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afdbf86b279b7eea6b6bd61d1dbeb4795">ref_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">  331</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">nb_levels_</a>;</div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aff99e3ce9e53287e4d139a7e438f8c1f">  333</a></span>&#160;        pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aff99e3ce9e53287e4d139a7e438f8c1f">keypoints_</a>;</div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a105002a257afbcb4c0e8fc378fe73155">  335</a></span>&#160;        pcl::PointIndicesPtr <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a105002a257afbcb4c0e8fc378fe73155">keypoints_status_</a>;</div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">  337</a></span>&#160;        std::size_t <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">keypoints_nbr_</a>;</div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">  339</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">track_width_</a>;</div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3eb2c64bcfaa0189719c2e29c5bb69a4">  341</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3eb2c64bcfaa0189719c2e29c5bb69a4">track_width_2_</a>;</div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">  343</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">track_height_</a>;</div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a4728bd3a60efc0a7559e9f76d5cb976c">  345</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a4728bd3a60efc0a7559e9f76d5cb976c">track_height_2_</a>;</div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">  347</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">max_iterations_</a>;</div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">  349</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">accuracy_</a>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordtype">float</span> min_eigenvalue_threshold_;</div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">  352</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">epsilon_</a>;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordtype">float</span> max_residue_;</div>
<div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aca8f4cfc01035b62b9e65a51b1a7e2f6">  355</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aca8f4cfc01035b62b9e65a51b1a7e2f6">threads_</a>;</div>
<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a81d0a12e407b621b2cb0da45f5d22d77">  357</a></span>&#160;        IntensityT <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a81d0a12e407b621b2cb0da45f5d22d77">intensity_</a>;</div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a88dc4e774d1c73233e935d4a34a46bca">  359</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a88dc4e774d1c73233e935d4a34a46bca">initialized_</a>;</div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3763f66911a0a3b061aab1403dc70a5">  361</a></span>&#160;        <a class="code" href="classpcl_1_1_transformation_from_correspondences.html">pcl::TransformationFromCorrespondences</a> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3763f66911a0a3b061aab1403dc70a5">transformation_computer_</a>;</div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6ae04755e3d16163e1502ae7c23a703f">  363</a></span>&#160;        Eigen::Affine3f <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6ae04755e3d16163e1502ae7c23a703f">motion_</a>;</div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">  365</a></span>&#160;        Eigen::Array&lt;float, 5, 1&gt; <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">kernel_</a>;</div>
<div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a52ea392e8a3f85b0313017f73fea7630">  367</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a52ea392e8a3f85b0313017f73fea7630">kernel_size_2_</a>;</div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10af9d16b10416c5a0b81e1ba8dbc225">  369</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10af9d16b10416c5a0b81e1ba8dbc225">kernel_last_</a>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    };</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  }</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;}</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/impl/pyramidal_klt.hpp&gt;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_transformation_from_correspondences_html"><div class="ttname"><a href="classpcl_1_1_transformation_from_correspondences.html">pcl::TransformationFromCorrespondences</a></div><div class="ttdoc">Calculates a transformation based on corresponding 3D points</div><div class="ttdef"><b>Definition:</b> transformation_from_correspondences.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">pcl::tracking::PyramidalKLTTracker</a></div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a03167bf6b569e40b3c846b1e113b39f5"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a03167bf6b569e40b3c846b1e113b39f5">pcl::tracking::PyramidalKLTTracker::setMaxIterationsNumber</a></div><div class="ttdeci">void setMaxIterationsNumber(unsigned int max)</div><div class="ttdoc">Set the maximum number of iterations in the Lucas Kanade loop.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a04af46fe581d00fbda8593ac379851ff"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a04af46fe581d00fbda8593ac379851ff">pcl::tracking::PyramidalKLTTracker::getMaxIterationsNumber</a></div><div class="ttdeci">unsigned int getMaxIterationsNumber() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a06637cb498ff4377e0dbc53c1e78105c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a06637cb498ff4377e0dbc53c1e78105c">pcl::tracking::PyramidalKLTTracker::getEpsilon</a></div><div class="ttdeci">float getEpsilon() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a0ed1edfc6d2f4834ac30b3a42f9e8cd1"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a0ed1edfc6d2f4834ac30b3a42f9e8cd1">pcl::tracking::PyramidalKLTTracker::getAccuracy</a></div><div class="ttdeci">float getAccuracy() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a105002a257afbcb4c0e8fc378fe73155"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a105002a257afbcb4c0e8fc378fe73155">pcl::tracking::PyramidalKLTTracker::keypoints_status_</a></div><div class="ttdeci">pcl::PointIndicesPtr keypoints_status_</div><div class="ttdoc">status of keypoints of t-1 at t</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:335</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a10af9d16b10416c5a0b81e1ba8dbc225"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10af9d16b10416c5a0b81e1ba8dbc225">pcl::tracking::PyramidalKLTTracker::kernel_last_</a></div><div class="ttdeci">int kernel_last_</div><div class="ttdoc">index of last element in kernel</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a10c45e67c08299e009a626a8705f2bfa"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a10c45e67c08299e009a626a8705f2bfa">pcl::tracking::PyramidalKLTTracker::track_width_</a></div><div class="ttdeci">int track_width_</div><div class="ttdoc">tracking width</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a1291f82b866df89fd94b4e2bf5dbd386"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1291f82b866df89fd94b4e2bf5dbd386">pcl::tracking::PyramidalKLTTracker::derivatives</a></div><div class="ttdeci">void derivatives(const FloatImage &amp;src, FloatImage &amp;grad_x, FloatImage &amp;grad_y) const</div><div class="ttdoc">compute Scharr derivatives of a source cloud.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:166</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a157d73fb7eac0161e9183616a45ed99c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a157d73fb7eac0161e9183616a45ed99c">pcl::tracking::PyramidalKLTTracker::setNumberOfPyramidLevels</a></div><div class="ttdeci">void setNumberOfPyramidLevels(int levels)</div><div class="ttdoc">Set the number of pyramid levels</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a1eb598d35b2134f593803d97263172f3"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1eb598d35b2134f593803d97263172f3">pcl::tracking::PyramidalKLTTracker::getNumberOfPyramidLevels</a></div><div class="ttdeci">int getNumberOfPyramidLevels() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a3707355d4aa473f3e2ccce1e9de11bfb"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3707355d4aa473f3e2ccce1e9de11bfb">pcl::tracking::PyramidalKLTTracker::getInitialized</a></div><div class="ttdeci">bool getInitialized() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a39345a55890862cd5e85e037bfa6de0d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a39345a55890862cd5e85e037bfa6de0d">pcl::tracking::PyramidalKLTTracker::keypoints_nbr_</a></div><div class="ttdeci">std::size_t keypoints_nbr_</div><div class="ttdoc">number of points to detect</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:337</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a3eb2c64bcfaa0189719c2e29c5bb69a4"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a3eb2c64bcfaa0189719c2e29c5bb69a4">pcl::tracking::PyramidalKLTTracker::track_width_2_</a></div><div class="ttdeci">int track_width_2_</div><div class="ttdoc">half of tracking window width</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a425aa7759eb414f155a9eaf9f21ab7d7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a425aa7759eb414f155a9eaf9f21ab7d7">pcl::tracking::PyramidalKLTTracker::~PyramidalKLTTracker</a></div><div class="ttdeci">virtual ~PyramidalKLTTracker()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a4728bd3a60efc0a7559e9f76d5cb976c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a4728bd3a60efc0a7559e9f76d5cb976c">pcl::tracking::PyramidalKLTTracker::track_height_2_</a></div><div class="ttdeci">int track_height_2_</div><div class="ttdoc">half of tracking window height</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:345</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a52ea392e8a3f85b0313017f73fea7630"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a52ea392e8a3f85b0313017f73fea7630">pcl::tracking::PyramidalKLTTracker::kernel_size_2_</a></div><div class="ttdeci">int kernel_size_2_</div><div class="ttdoc">smoothing kernel half size</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a5421324722282216177334d23adb93f4"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5421324722282216177334d23adb93f4">pcl::tracking::PyramidalKLTTracker::nb_levels_</a></div><div class="ttdeci">int nb_levels_</div><div class="ttdoc">number of pyramid levels</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a5625d4bc6bdd33d9bf03ab9cb9e724e7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5625d4bc6bdd33d9bf03ab9cb9e724e7">pcl::tracking::PyramidalKLTTracker::track_height_</a></div><div class="ttdeci">int track_height_</div><div class="ttdoc">tracking height</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:343</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a5d459c85a97df059644a826290c959e9"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a5d459c85a97df059644a826290c959e9">pcl::tracking::PyramidalKLTTracker::ref_pyramid_</a></div><div class="ttdeci">std::vector&lt; FloatImageConstPtr &gt; ref_pyramid_</div><div class="ttdoc">input pyranid at t-1</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a62d2f8d0c8efbee3b166b9ab7bd1167e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a62d2f8d0c8efbee3b166b9ab7bd1167e">pcl::tracking::PyramidalKLTTracker::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a64dcc53c044c27861b5441b2f99d099f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a64dcc53c044c27861b5441b2f99d099f">pcl::tracking::PyramidalKLTTracker::setAccuracy</a></div><div class="ttdeci">void setAccuracy(float accuracy)</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a6506c6e1ea932082c7f76c988afa85c1"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6506c6e1ea932082c7f76c988afa85c1">pcl::tracking::PyramidalKLTTracker::getTrackedPoints</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointUV &gt;::ConstPtr getTrackedPoints() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a66cf5039c8b3b50823b4847e062ea317"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a66cf5039c8b3b50823b4847e062ea317">pcl::tracking::PyramidalKLTTracker::computeTracking</a></div><div class="ttdeci">virtual void computeTracking()</div><div class="ttdoc">Abstract tracking method.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:625</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a68ddbe4094f0a5d94bde3cb912c8f0c7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a68ddbe4094f0a5d94bde3cb912c8f0c7">pcl::tracking::PyramidalKLTTracker::setEpsilon</a></div><div class="ttdeci">void setEpsilon(float epsilon)</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a6ae04755e3d16163e1502ae7c23a703f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6ae04755e3d16163e1502ae7c23a703f">pcl::tracking::PyramidalKLTTracker::motion_</a></div><div class="ttdeci">Eigen::Affine3f motion_</div><div class="ttdoc">computed transformation between tracked points</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:363</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a6f7e2789efeeadd76c5e1025862e34e5"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6f7e2789efeeadd76c5e1025862e34e5">pcl::tracking::PyramidalKLTTracker::PyramidalKLTTracker</a></div><div class="ttdeci">PyramidalKLTTracker(int nb_levels=5, int tracking_window_width=7, int tracking_window_height=7)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a7c1cb7572b19a0edbb66b50e6ab30956"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a7c1cb7572b19a0edbb66b50e6ab30956">pcl::tracking::PyramidalKLTTracker::epsilon_</a></div><div class="ttdeci">float epsilon_</div><div class="ttdoc">epsilon for subpixel computation</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a81d0a12e407b621b2cb0da45f5d22d77"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a81d0a12e407b621b2cb0da45f5d22d77">pcl::tracking::PyramidalKLTTracker::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">intensity accessor</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:357</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a825ff7281312ad78b2a94bab22046a3e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">pcl::tracking::PyramidalKLTTracker::setPointsToTrack</a></div><div class="ttdeci">void setPointsToTrack(const pcl::PointIndicesConstPtr &amp;points)</div><div class="ttdoc">Provide a pointer to points to track.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a82dbfec83a2f31125255eba2dedfe5c9"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a82dbfec83a2f31125255eba2dedfe5c9">pcl::tracking::PyramidalKLTTracker::getTrackingWindowWidth</a></div><div class="ttdeci">int getTrackingWindowWidth()</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a88dc4e774d1c73233e935d4a34a46bca"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a88dc4e774d1c73233e935d4a34a46bca">pcl::tracking::PyramidalKLTTracker::initialized_</a></div><div class="ttdeci">bool initialized_</div><div class="ttdoc">is the tracker initialized ?</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a90e1723b09ffd63f88972b892d7c509b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a90e1723b09ffd63f88972b892d7c509b">pcl::tracking::PyramidalKLTTracker::setTrackingWindowSize</a></div><div class="ttdeci">void setTrackingWindowSize(int width, int height)</div><div class="ttdoc">set the tracking window size</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a9168e3b0b3758e1d39fbce80f512e03c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9168e3b0b3758e1d39fbce80f512e03c">pcl::tracking::PyramidalKLTTracker::computePyramids</a></div><div class="ttdeci">virtual void computePyramids(const PointCloudInConstPtr &amp;input, std::vector&lt; FloatImageConstPtr &gt; &amp;pyramid, pcl::InterpolationType border_type) const</div><div class="ttdoc">Compute the pyramidal representation of an image.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:336</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a99549bf819b6eae79b2c0fe98e524d1b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">pcl::tracking::PyramidalKLTTracker::downsample</a></div><div class="ttdeci">void downsample(const FloatImageConstPtr &amp;input, FloatImageConstPtr &amp;output) const</div><div class="ttdoc">downsample input</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:221</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a9d782182dcfba1d46a866269316b79a4"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9d782182dcfba1d46a866269316b79a4">pcl::tracking::PyramidalKLTTracker::setTrackingWindowHeight</a></div><div class="ttdeci">void setTrackingWindowHeight(int height)</div><div class="ttdoc">Set tracking window height</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a9f85940b6be97925fc57ee052dd8e158"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9f85940b6be97925fc57ee052dd8e158">pcl::tracking::PyramidalKLTTracker::spatialGradient</a></div><div class="ttdeci">virtual void spatialGradient(const FloatImage &amp;img, const FloatImage &amp;grad_x, const FloatImage &amp;grad_y, const Eigen::Array2i &amp;location, const Eigen::Array4f &amp;weights, Eigen::ArrayXXf &amp;win, Eigen::ArrayXXf &amp;grad_x_win, Eigen::ArrayXXf &amp;grad_y_win, Eigen::Array3f &amp;covariance) const</div><div class="ttdoc">extract the patch from the previous image, previous image gradients surrounding pixel alocation while...</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:404</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aa9c1a5b03eec314beff8a64340735a9b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aa9c1a5b03eec314beff8a64340735a9b">pcl::tracking::PyramidalKLTTracker::kernel_</a></div><div class="ttdeci">Eigen::Array&lt; float, 5, 1 &gt; kernel_</div><div class="ttdoc">smoothing kernel</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aaa2c686306516b0181854772032d496c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa2c686306516b0181854772032d496c">pcl::tracking::PyramidalKLTTracker::max_iterations_</a></div><div class="ttdeci">unsigned int max_iterations_</div><div class="ttdoc">maximum number of iterations</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:347</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aaa669cfc2ebbb9778be5475d69c6efce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa669cfc2ebbb9778be5475d69c6efce">pcl::tracking::PyramidalKLTTracker::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aac93a627c1eed2685af0ae5c0941892a"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aac93a627c1eed2685af0ae5c0941892a">pcl::tracking::PyramidalKLTTracker::getTrackingWindowHeight</a></div><div class="ttdeci">int getTrackingWindowHeight()</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aada859c02149ccc171bffc2425017dad"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aada859c02149ccc171bffc2425017dad">pcl::tracking::PyramidalKLTTracker::accuracy_</a></div><div class="ttdeci">float accuracy_</div><div class="ttdoc">accuracy criterion to stop iterating</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_abfd704e6b78a0c616bdcd18374cbc12c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#abfd704e6b78a0c616bdcd18374cbc12c">pcl::tracking::PyramidalKLTTracker::setTrackingWindowWidth</a></div><div class="ttdeci">void setTrackingWindowWidth(int width)</div><div class="ttdoc">Set tracking window width</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ac6b068b18f45c46ca91bd01a8d6818eb"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ac6b068b18f45c46ca91bd01a8d6818eb">pcl::tracking::PyramidalKLTTracker::getPointsToTrackStatus</a></div><div class="ttdeci">pcl::PointIndicesConstPtr getPointsToTrackStatus() const</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aca8f4cfc01035b62b9e65a51b1a7e2f6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aca8f4cfc01035b62b9e65a51b1a7e2f6">pcl::tracking::PyramidalKLTTracker::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of hardware threads</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:355</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ad0460b03dcfc7a2937c46ca46c94d562"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad0460b03dcfc7a2937c46ca46c94d562">pcl::tracking::PyramidalKLTTracker::getReferenceCloud</a></div><div class="ttdeci">PointCloudInConstPtr getReferenceCloud() const</div><div class="ttdoc">Get a pointer of the cloud at t-1.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ad8d75914e16311af2381c23b1d81e04f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad8d75914e16311af2381c23b1d81e04f">pcl::tracking::PyramidalKLTTracker::convolveRows</a></div><div class="ttdeci">void convolveRows(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Convolve image rows.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ae3763f66911a0a3b061aab1403dc70a5"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3763f66911a0a3b061aab1403dc70a5">pcl::tracking::PyramidalKLTTracker::transformation_computer_</a></div><div class="ttdeci">pcl::TransformationFromCorrespondences transformation_computer_</div><div class="ttdoc">compute transformation from successfully tracked points</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:361</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ae3c809675ea924f5a6a9167bbed8e0a5"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ae3c809675ea924f5a6a9167bbed8e0a5">pcl::tracking::PyramidalKLTTracker::setNumberOfKeypoints</a></div><div class="ttdeci">void setNumberOfKeypoints(std::size_t number)</div><div class="ttdoc">Set the maximum number of points to track. Only the first keypoints_nbr_ are used as points to track ...</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_af00aa146a5122444e596060a26fc1bc6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#af00aa146a5122444e596060a26fc1bc6">pcl::tracking::PyramidalKLTTracker::convolveCols</a></div><div class="ttdeci">void convolveCols(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Convolve image columns.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:304</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_afc4f01cbacb9750e1ec6bf06068f8534"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afc4f01cbacb9750e1ec6bf06068f8534">pcl::tracking::PyramidalKLTTracker::getResult</a></div><div class="ttdeci">Eigen::Affine3f getResult() const</div><div class="ttdoc">Return the computed transfromation from tracked points.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_afd0d46566a85573a1d467f86a145dea8"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afd0d46566a85573a1d467f86a145dea8">pcl::tracking::PyramidalKLTTracker::convolve</a></div><div class="ttdeci">void convolve(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Separately convolve image with decomposable convolution kernel.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:264</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_afdbf86b279b7eea6b6bd61d1dbeb4795"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afdbf86b279b7eea6b6bd61d1dbeb4795">pcl::tracking::PyramidalKLTTracker::ref_</a></div><div class="ttdeci">PointCloudInConstPtr ref_</div><div class="ttdoc">point cloud at t-1</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:329</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_afef9543e6cbaa5245bd837a4366868c3"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afef9543e6cbaa5245bd837a4366868c3">pcl::tracking::PyramidalKLTTracker::getNumberOfKeypoints</a></div><div class="ttdeci">std::size_t getNumberOfKeypoints()</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aff99e3ce9e53287e4d139a7e438f8c1f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aff99e3ce9e53287e4d139a7e438f8c1f">pcl::tracking::PyramidalKLTTracker::keypoints_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointUV &gt;::ConstPtr keypoints_</div><div class="ttdoc">detected keypoints 2D coordinates</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker</a></div><div class="ttdoc">Tracker represents the base tracker class.</div><div class="ttdef"><b>Definition:</b> tracker.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_aaa1a7a91f381d951cc85c0c7f440f0ce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">pcl::tracking::Tracker&lt; PointInT, Eigen::Affine3f &gt;::tracker_name_</a></div><div class="ttdeci">std::string tracker_name_</div><div class="ttdoc">The tracker name.</div><div class="ttdef"><b>Definition:</b> tracker.h:92</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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